It's common to use motors with about 3V DC rating with both 12V and 24V power supplies. The stepper drivers are constant current so they don't actually receive more than 3VDC. The higher voltage supply to the drivers is needed to achieve high speeds, because the inductance and back emf of the motor have to be overcome.
DRV8825 drivers have known problems with some types of motor, especially with higher supply voltages. The symptom is either missed steps or a loud whining noise, depending on how the decay mode is configured.